Date of Publication :10th April 2018
Abstract: This paper presents a controlled teleoperation system to deal with some of the key issues that arise in the teleoperation of robotic hand-arm systems.The system consists of two magnetic trackers and two sensitized gloves that guide two industrial robots and the mechanical hands they are fitted with respectively.The risk of collisions and achieving singular configurations, either internally or due to the limitations of the workspace is controlled by monitoring and stopping the state of the hand-arm system when necessary.The automated re-synchronization procedure allows the teleoperation to restart as soon as the danger is gone, and also allows the user to adjust the mapping when his / her posture is uncomfortable.The resulting system allows for intuitive, simple and secure teleoperation of a dual robotic hand-arm system.A glove system used to accurately and reliably capture hand kinematics.It can provide doctors with angular velocities, accelerations, and joint angles to adjust medical procedures.Three validations – raw data verification, static angle verification, and dynamic angle verification – are performed to verify the data glove's reliability and accuracy
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